简单利用mpu6050 lib,进行测试,接开发板D7,D8针
. G0 g- h: t: \' I代码如下
- T( F# G0 b. a( H- #include "mbed.h"$ v3 d) H" ]0 Q& _. d
- #include "MPU6050.h"5 L# y8 M7 l: q* {5 _; s
- + Q3 Z6 K E6 C, S
- MPU6050 mpu(D7,D8);//for Nucleo-F042K6
% M$ ?4 L- I8 j; j& I" ~ - Serial pc(USBTX,USBRX);
3 X; M1 B# Q2 F. w5 K0 @ -
+ d( n1 W) U; z6 F8 V; A, U% K - float gx,gy,gz,ax,ay,az;8 ?' }% i8 v3 Q
-
7 a" h) [& ?4 I" }8 x7 p( p C - int main()
O. C; z; I' G3 c! U" S: u* ] Q7 ] - {
+ ~/ `* Q, T, S/ j. D9 N - pc.baud(115200);
, i6 \! |8 \% h! f9 n- J9 x - if(mpu.getID()==0x68) {
8 p9 r0 V0 D O' D/ j7 R V - pc.printf("MPU6050 OK");
- O' R% `' K7 a$ f - wait(1);
& `+ Q$ s" Q/ v- x - } else {
+ h+ ]) M- d0 v" c! G - pc.printf("MPU6050 error ID=0x%x\r\n",mpu.getID());7 W3 n" ~' R. e' P/ A5 F' H* \* w
- while(1) {
g+ Q8 y% m1 U$ v) V) M' \4 ~: V - }$ }7 h* j, m0 @% u9 G( X& e* f$ ]
- }
! k+ N* C; y0 h+ E& q) L5 m& T' a - mpu.start();
, i. o0 K" s; q& d/ {& R4 Z, ? - while(1) {: s2 I9 |6 a; K; z
- mpu.read(&gx,&gy,&gz,&ax,&ay,&az);
% M0 @* z# o- G# w - pc.printf("gx,gy,gz,ax,ay,az %.1f,%.1f,%.1f,%.2f,%.2f,%.2f\r\n",gx,gy,gz,ax,ay,az);5 r# ]/ P9 Q% d
- wait(0.1);
# l: p0 k% H- M' r5 T% y - }
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-
复制代码 mbed os下写代码是不是很简单: G9 _' R. z% O+ y" n% G1 w
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搜一下,mbed下有很多的,引入进来即可。